WO2022011781A1 - Track-type inspection robot with autonomous track changing function - Google Patents
Track-type inspection robot with autonomous track changing function Download PDFInfo
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- WO2022011781A1 WO2022011781A1 PCT/CN2020/110472 CN2020110472W WO2022011781A1 WO 2022011781 A1 WO2022011781 A1 WO 2022011781A1 CN 2020110472 W CN2020110472 W CN 2020110472W WO 2022011781 A1 WO2022011781 A1 WO 2022011781A1
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- track
- traverse
- ball screw
- fixedly connected
- drive motor
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- 238000007689 inspection Methods 0.000 title claims abstract description 33
- 210000000078 claw Anatomy 0.000 claims abstract description 24
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 11
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
- B61D15/12—Railway inspection trolleys power propelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60M—POWER SUPPLY LINES, AND DEVICES ALONG RAILS, FOR ELECTRICALLY- PROPELLED VEHICLES
- B60M1/00—Power supply lines for contact with collector on vehicle
- B60M1/12—Trolley lines; Accessories therefor
- B60M1/28—Manufacturing or repairing trolley lines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61F—RAIL VEHICLE SUSPENSIONS, e.g. UNDERFRAMES, BOGIES OR ARRANGEMENTS OF WHEEL AXLES; RAIL VEHICLES FOR USE ON TRACKS OF DIFFERENT WIDTH; PREVENTING DERAILING OF RAIL VEHICLES; WHEEL GUARDS, OBSTRUCTION REMOVERS OR THE LIKE FOR RAIL VEHICLES
- B61F7/00—Rail vehicles equipped for use on tracks of different width
Definitions
- the invention relates to the technical field of orbital inspection robots, in particular to an orbital inspection robot with an autonomous orbit change function.
- the screw nut assembly includes a ball screw drive motor 15 fixed on one end of the ball screw support 14, a ball screw 16 connected to the ball screw support 14 and connected with the drive shaft of the ball screw drive motor 15, and sleeved on the ball screw drive motor 15.
- the moving nut 17 on the ball screw 16, the axis of the ball screw 16 and the axis of the traverse guide 12 are parallel to each other, the moving nut 17 is fixedly connected with the nut connector 18 sleeved on the ball screw 16, the ball screw bracket 14
- a slide rail 19 is fixed at the top of the slide rail 19, the axis of the slide rail 19 is parallel to the axis of the ball screw 16, and the slide rail 19 is slidably provided with a power system traverse slider 110 fixedly connected with the nut connector 18;
Abstract
Disclosed is a track-type inspection robot with an autonomous track changing function, the inspection robot comprising a transverse movement system (1), and two grabbing systems (2) and a power system (3) which are connected to the transverse movement system (1). Each grabbing system (2) moves along with corresponding transverse movement parts of the transverse movement system (1) to realize a track changing operation; the power system (3) realizes track changing along the synchronous driving of two transverse movement parts of the transverse movement system (1), such that the power system (3) realizes rapid track changing; and after track changing, a driving wheel (36) of the power system (3) rotates under the driving of a driving electric motor (35), so that the power system (3) drives the whole track-type inspection robot to realize a track inspection function. The track-type inspection robot can complete autonomous track changing without needing to change a track structure or add an auxiliary track changing apparatus, which robot adapts to tracks of different widths by means of adjusting the distance between two clamping claws (24) of the grabbing systems (2), and adapts to the distance of a track change by means of changing the transverse movement length of the transverse movement system (1), and thus, the track-type inspection robot has wide applicability.
Description
本发明涉及轨道式巡检机器人技术领域，具体是一种具有自主变轨功能的轨道式巡检机器人。The invention relates to the technical field of orbital inspection robots, in particular to an orbital inspection robot with an autonomous orbit change function.
接触网系统作为连接电力机车和轨道交通供电系统的关键环节，是地铁列车的主要电力来源。刚性接触网在隧道内相对柔性接触网具有一定优势，其接触线无张力，不用设置下锚装置，不会发生断线事故，具有零部件少，载流量大，安全可靠，维修工作量小等特点，被广泛地应用于地铁隧道内。由于工作环境恶劣，且长期工作在振动工况下，刚性接触网的支持、定位、悬挂等装置容易出现松动、脱落或损坏等问题。如果不及时发现并处理，将引发严重的故障，甚至造成行车事故，带来极大的损失。The catenary system, as the key link connecting the electric locomotive and the rail transit power supply system, is the main source of electricity for the subway trains. Rigid catenary has certain advantages over flexible catenary in tunnels. Its contact line has no tension, no anchoring device is required, and no wire breakage accident occurs. It has fewer parts, large current carrying capacity, safety and reliability, and small maintenance workload. It is widely used in subway tunnels. Due to the harsh working environment and the long-term working under vibration conditions, the support, positioning, suspension and other devices of the rigid catenary are prone to problems such as loosening, falling off or damage. If it is not detected and dealt with in time, it will cause serious failures and even traffic accidents, resulting in great losses.
轨道式巡检机器人可以在刚性接触网上自主运行，携带高清摄像头对其进行巡视、检查。由于地铁刚性接触网的布置存在平行分叉的线路，需要巡检机器人具备从其中一个运行轨道跨越至另外一个运行轨道的变轨功能，从而完成自主巡检。但是，目前的轨道式巡检机器人只能沿着特定的一段轨道进行巡检，无法进行多轨道变轨巡检任务；或是需要辅助变轨装置安装在轨道上，从而实现变轨。The orbital inspection robot can run autonomously on the rigid contact network and carry high-definition cameras to inspect and inspect it. Due to the parallel bifurcated lines in the layout of the subway rigid catenary, the inspection robot needs to have the function of changing the track from one running track to the other, so as to complete the autonomous inspection. However, the current orbital inspection robot can only perform inspection along a specific section of the track, and cannot perform multi-track track change inspection tasks; or an auxiliary track change device needs to be installed on the track to realize track change.
本发明要解决的技术问题是提供一种具有自主变轨功能的轨道式巡检机器人，无需改变轨道结构或者增加辅助变轨装置，轨道式巡检机器人即可完成自主变轨操作。The technical problem to be solved by the present invention is to provide a track-type inspection robot with the function of autonomous track change, without changing the track structure or adding an auxiliary track change device, the track-type inspection robot can complete the autonomous track change operation.
本发明的技术方案为：The technical scheme of the present invention is:
一种具有自主变轨功能的轨道式巡检机器人，包括有横移系统、连接于横移系统上的两个抓附系统和动力系统；An orbital inspection robot with an autonomous orbit change function, comprising a traverse system, two gripping systems connected to the traverse system, and a power system;
所述的横移系统包括有两个横移部件和连接于两个横移部件之间的滑块连接件，每个横移部件均包括有横移底板、固定设置于横移底板上的横移导轨、设置于横移导轨上的横移滑块，固定于横移底板上的滚珠丝杠支架、连接于滚珠丝杠支架上的滚珠丝杆螺母组件、以及连接于滚珠丝杆螺母组件上的螺母连接件，滚珠丝杆螺母组件包括有固定于滚珠丝杠支架一端的滚珠丝杆驱动电机、连接于滚珠丝杠支架上且与滚珠丝杆驱动电机的驱动轴连接的滚珠丝杆、套装于滚珠丝杆上的移动螺母，移动螺母与套装于滚珠丝杆上的螺母连接件固定连接，滚珠丝杠的轴线与横移导轨的轴线相互平行，两个横移部件的横移导轨相互平行，两个横移部件的横移滑块均与滑块连接件固定连接；The traverse system includes two traverse parts and a slider connecting piece connected between the two traverse parts, and each traverse part includes a traverse bottom plate and a traverse plate fixedly arranged on the traverse bottom plate. The moving guide rail, the traverse sliding block arranged on the traverse guide rail, the ball screw bracket fixed on the traverse base plate, the ball screw nut assembly connected to the ball screw bracket, and the ball screw nut assembly connected to the ball screw The ball screw nut assembly includes a ball screw drive motor fixed at one end of the ball screw support, a ball screw connected to the ball screw support and connected with the drive shaft of the ball screw drive motor, a set of The moving nut on the ball screw is fixedly connected with the nut connector set on the ball screw. The axis of the ball screw and the axis of the traverse guide are parallel to each other, and the traverse guides of the two traverse parts are parallel to each other. , the traverse sliders of the two traverse parts are fixedly connected with the slider connector;
所述的两个抓附系统分别连接于横移系统的两个横移部件上，每个抓附系统均包括有固定于对应横移底板上的开合导轨和正反丝杆组件、滑动设置于开合导轨上的两个开合滑块、底端固定于每个开合滑块上的推杆底座、连接于每个推杆底座上的升降推杆、固定连接于每个升降推杆顶端上的卡爪，正反丝杆组件包括有固定于横移底板上的正反丝杠支架、固定于正反丝杠支架上的正反丝杠驱动电机、连接于正反丝杠支架上且由正反丝杠驱动电机驱动的正反丝杠、套装于正反丝杠上的正向螺母和反向螺母，所述的开合导轨的轴线、正反丝杠的轴线均与滚珠丝杠的轴线平行，正反丝杆组件的正向螺母和反向螺母分别与两个推杆底座一一对应且固定连接；The two gripping systems are respectively connected to the two traversing components of the traversing system, and each gripping system includes an opening and closing guide rail and a positive and negative screw assembly fixed on the corresponding traverse bottom plate, and a sliding arrangement is provided. Two opening and closing sliders on the opening and closing guide rails, a push rod base whose bottom end is fixed on each opening and closing slider, a lifting push rod connected to each push rod base, and a push rod that is fixedly connected to each lifting push rod The claw on the top, the positive and negative screw assembly includes a positive and negative screw bracket fixed on the traverse bottom plate, a positive and negative screw drive motor fixed on the positive and negative screw bracket, connected to the positive and negative screw bracket And the positive and negative lead screws driven by the positive and negative lead screw drive motors, the forward nut and the reverse nut sleeved on the positive and negative lead screws, the axis of the opening and closing guide rail, the axis of the positive and negative lead screws are all the same as the ball screw. The axis of the rod is parallel, and the forward nut and the reverse nut of the forward and reverse screw assembly are in one-to-one correspondence with the two push rod bases and are fixedly connected;
所述的动力系统包括有安装底板、底端固定于安装底板上的多个导向轴、套装于每个导向轴上的弹簧、通过轴承套装于多个导向轴上的驱动电机安装框、安装于驱动电机安装框上的驱动电机、与驱动电机的驱动轴固定连接的驱动轮、固定于安装底板上的多个齿轮安装座、设置于每个齿轮安装座上的齿轮传动组、开合电机、多组挂轮安装架、以及连接于每组挂轮安装架顶部的挂轮，所述的安装底板的下端面与两个横移部件的螺母连接件固定连接，所述的弹簧的底端与安装底板固定连接，弹簧的顶端与驱动电机安装框固定连接，所述的驱动轮顶端的水平高度高于驱动电机安装框顶端的水平高度，所述的齿轮传动组包括有与开合电机的驱动轴固定连接的主动齿轮、两个分别与主动齿轮啮合的从动齿轮，每组挂轮安装架均包括有两个竖直架体，两个竖直架体的底端分别与对应一组齿轮传动组的两个从动齿轮固定连接，两个竖直架体相对的竖直侧面其顶部均连接有竖直设置的挂轮。The power system includes an installation base plate, a plurality of guide shafts whose bottom ends are fixed on the installation base plate, a spring sleeved on each guide shaft, a drive motor installation frame sleeved on the plurality of guide shafts through bearings, and a drive motor installation frame installed on the plurality of guide shafts. The drive motor on the drive motor mounting frame, the drive wheel fixedly connected with the drive shaft of the drive motor, a plurality of gear mounting seats fixed on the mounting base plate, the gear transmission group arranged on each gear mounting seat, the opening and closing motor, Multiple groups of hanging wheel mounting racks and hanging wheels connected to the top of each group of hanging wheel mounting racks, the lower end surface of the mounting base plate is fixedly connected with the nut connectors of the two transverse moving parts, and the bottom end of the spring is connected to the The mounting base plate is fixedly connected, the top of the spring is fixedly connected with the drive motor mounting frame, the level of the top of the drive wheel is higher than the level of the top of the drive motor mounting frame, and the gear transmission group includes a drive with the opening and closing motor. A driving gear that is fixedly connected to the shaft, and two driven gears that mesh with the driving gear respectively. Each set of hanging wheel mounting brackets includes two vertical frame bodies, and the bottom ends of the two vertical frame bodies are respectively connected with a corresponding set of gears. The two driven gears of the transmission group are fixedly connected, and vertically arranged hanging wheels are connected to the tops of the opposite vertical sides of the two vertical frame bodies.
所述的滚珠丝杠支架的顶端固定有滑轨，滑轨的轴线与滚珠丝杆的轴线平行，滑轨上滑动设置有与螺母连接件固定连接的动力系统横移滑块，所述的动力系统横移滑块固定连接于动力系统安装底板的下端面上。The top of the ball screw bracket is fixed with a slide rail, the axis of the slide rail is parallel to the axis of the ball screw, and the slide rail is slidably provided with a power system traverse slider that is fixedly connected with the nut connecting piece. The system traverse slider is fixedly connected to the lower end surface of the power system installation base plate.
所述的两个抓附系统分别位于对应的横移部件滚珠丝杆螺母组件的外侧。The two gripping systems are respectively located on the outer sides of the ball screw nut assemblies of the corresponding traverse components.
所述的安装底板上固定有两个齿轮安装座，所述的驱动电机安装框位于两个齿轮安装座之间，所述的开合电机连接于两个齿轮安装座之间且开合电机背向延伸的两个驱动轴分别与两个齿轮安装座上齿轮传动组的主动齿轮固定连接。Two gear mounting seats are fixed on the mounting base plate, the drive motor mounting frame is located between the two gear mounting seats, and the opening and closing motor is connected between the two gear mounting seats and the back of the opening and closing motor is located. The two extending drive shafts are respectively fixedly connected with the driving gears of the gear transmission groups on the two gear mounting seats.
所述的驱动电机安装框为矩形框架结构，矩形框架结构相对的两条边框之间连接有所述的驱动轮。The drive motor mounting frame is a rectangular frame structure, and the drive wheel is connected between two opposite frames of the rectangular frame structure.
所述的每个抓附系统两个卡爪相对的夹持面上均设置有轨道定位卡槽。Track positioning slots are arranged on the opposite clamping surfaces of the two gripping claws of each gripping system.
本发明的优点：Advantages of the present invention:
本发明的抓附系统随着横移系统对应的横移部件移动，实现变轨操作，动力系统随着横移系统两个横移部件的同步驱动实现变轨，从而使得动力系统实现快速变轨，变轨后，动力系统的驱动轮在弹簧的弹力支撑下与变轨轨道的底面紧密接触，提供驱动轮旋转所需要的摩擦力，驱动电机驱动驱动轮转动使得动力系统带动本发明整个轨道式巡检机器人实现轨道巡检的功能。本发明无需改变轨道结构或者增加辅助变轨装置，轨道式巡检机器人即可完成自主变轨；本发明通过调节抓附系统两个卡爪的距离来适应不同宽度的轨道，通过改变横移系统横移的长度来适应变轨的距离，具备广泛适用性。The gripping system of the present invention moves with the traverse member corresponding to the traverse system to realize the track change operation, and the power system realizes the track change with the synchronous drive of the two traverse members of the traverse system, so that the power system can realize the rapid track change. After the track change, the drive wheel of the power system is in close contact with the bottom surface of the track change track under the elastic support of the spring, providing the friction force required for the rotation of the drive wheel, and the drive motor drives the drive wheel to rotate so that the power system drives the entire track of the present invention. The inspection robot realizes the function of track inspection. The present invention does not need to change the track structure or add an auxiliary track changing device, and the track-type inspection robot can complete the autonomous track change; the present invention adapts to tracks of different widths by adjusting the distance between the two claws of the gripping system, and by changing the traverse system The length of the traverse is adapted to the distance of the track change, which has a wide range of applicability.
图1是本发明的结构示意图。Figure 1 is a schematic structural diagram of the present invention.
图2是本发明的爆炸图。Figure 2 is an exploded view of the present invention.
图3 是本发明实施例中变轨的初始状态图。FIG. 3 is an initial state diagram of track change in the embodiment of the present invention.
图4是本发明实施例中右抓附系统两个卡爪闭合锁定初始轨道的状态图。FIG. 4 is a state diagram of the two claws of the right gripping system closing and locking the initial track according to the embodiment of the present invention.
图5是本发明实施例中左抓附系统横移至变轨轨道下方的状态图。FIG. 5 is a state diagram of the left gripping system traversing to the bottom of the track changing track in the embodiment of the present invention.
图6是本发明实施例中左抓附系统两个卡爪锁合变轨轨道的状态图。FIG. 6 is a state diagram of the two claws of the left gripping system locking the track changing track in the embodiment of the present invention.
图7是本发明实施例中动力系统挂轮打开的状态图。FIG. 7 is a state diagram of a power system hanging wheel opened in an embodiment of the present invention.
图8是本发明实施例中动力系统横移至变轨轨道下方的状态图。FIG. 8 is a state diagram of the power system traversing to the bottom of the track changing track in the embodiment of the present invention.
图9是本发明实施例中动力系统挂轮锁合变轨轨道的状态图。FIG. 9 is a state diagram of a power system hooking a wheel to a track-changing track in an embodiment of the present invention.
图10是本发明实施例中右抓附系统两个卡爪打开的状态图。FIG. 10 is a state diagram of the open state of the two gripping claws of the right gripping system in the embodiment of the present invention.
图11是本发明实施例中右抓附系统横移至变轨轨道下方的状态图。FIG. 11 is a state diagram of the right gripping system traversing to the bottom of the track changing track in the embodiment of the present invention.
图12是本发明实施例中变轨完成的状态图。FIG. 12 is a state diagram of the completion of the track change in the embodiment of the present invention.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
见图1，一种具有自主变轨功能的轨道式巡检机器人，包括有横移系统1、连接于横移系统1上的两个抓附系统2和动力系统3；Referring to Figure 1, a track-type inspection robot with autonomous track change function includes a traverse system 1, two gripping systems 2 connected to the traverse system 1, and a power system 3;
见图2，横移系统1包括有两个横移部件和连接于两个横移部件之间的滑块连接件13，每个横移部件均包括有横移底板11、固定设置于横移底板11上的横移导轨12、设置于横移导轨12上的横移滑块，固定于横移底板11上的滚珠丝杠支架14、连接于滚珠丝杠支架14上的滚珠丝杆螺母组件、以及连接于滚珠丝杆螺母组件上的螺母连接件18，两个横移部件的横移导轨12相互平行，两个横移部件的横移滑块均与滑块连接件13固定连接，滚珠丝杆螺母组件包括有固定于滚珠丝杠支架14一端的滚珠丝杆驱动电机15、连接于滚珠丝杠支架14上且与滚珠丝杆驱动电机15的驱动轴连接的滚珠丝杆16、套装于滚珠丝杆16上的移动螺母17，滚珠丝杠16的轴线与横移导轨12的轴线相互平行，移动螺母17与套装于滚珠丝杆16上的螺母连接件18固定连接，滚珠丝杠支架14的顶端固定有滑轨19，滑轨19的轴线与滚珠丝杆16的轴线平行，滑轨19上滑动设置有与螺母连接件18固定连接的动力系统横移滑块110；Referring to FIG. 2, the traverse system 1 includes two traverse parts and a slider connecting piece 13 connected between the two traverse parts. The traverse guide rail 12 on the bottom plate 11 , the traverse slider set on the traverse guide rail 12 , the ball screw bracket 14 fixed on the traverse bottom plate 11 , and the ball screw nut assembly connected to the ball screw bracket 14 , and the nut connector 18 connected to the ball screw nut assembly, the traverse guide rails 12 of the two traverse components are parallel to each other, and the traverse sliders of the two traverse components are fixedly connected with the slider connector 13. The screw nut assembly includes a ball screw drive motor 15 fixed on one end of the ball screw support 14, a ball screw 16 connected to the ball screw support 14 and connected with the drive shaft of the ball screw drive motor 15, and sleeved on the ball screw drive motor 15. The moving nut 17 on the ball screw 16, the axis of the ball screw 16 and the axis of the traverse guide 12 are parallel to each other, the moving nut 17 is fixedly connected with the nut connector 18 sleeved on the ball screw 16, the ball screw bracket 14 A slide rail 19 is fixed at the top of the slide rail 19, the axis of the slide rail 19 is parallel to the axis of the ball screw 16, and the slide rail 19 is slidably provided with a power system traverse slider 110 fixedly connected with the nut connector 18;
见图2，两个抓附系统2分别连接于横移系统的两个横移部件上且分别位于对应的横移部件滚珠丝杆螺母组件的外侧，每个抓附系统均包括有固定于对应横移底板11上的开合导轨和正反丝杆组件、滑动设置于开合导轨上的两个开合滑块21、底端固定于每个开合滑块21上的推杆底座22、连接于每个推杆底座22上的升降推杆23、固定连接于每个升降推杆23顶端上的卡爪24，正反丝杆组件包括有固定于横移底板11上的正反丝杠支架25、固定于正反丝杠支架25上的正反丝杠驱动电机26、连接于正反丝杠支架25上且由正反丝杠驱动电机26驱动的正反丝杠27、套装于正反丝杠27上的正向螺母28和反向螺母29（见图1），开合导轨的轴线、正反丝杠27的轴线均与滚珠丝杠17的轴线平行，正反丝杆组件的正向螺母28和反向螺母29分别与两个推杆底座22一一对应且固定连接；其中，每个抓附系统两个卡爪24相对的夹持面上均设置有轨道定位卡槽；Referring to Fig. 2, the two gripping systems 2 are respectively connected to the two traversing components of the traversing system and are respectively located on the outer sides of the corresponding traversing component ball screw nut assemblies. The opening and closing guide rail and the positive and negative screw assembly on the traverse bottom plate 11, the two opening and closing sliders 21 slidably arranged on the opening and closing guide rail, the push rod base 22 whose bottom end is fixed on each opening and closing slider 21, The lift push rod 23 connected to each push rod base 22, the claw 24 fixedly connected to the top of each lift push rod 23, the positive and negative screw assembly includes a positive and negative screw fixed on the traverse base plate 11 The bracket 25, the forward and reverse screw drive motor 26 fixed on the forward and reverse screw bracket 25, the forward and reverse screw 27 connected to the forward and reverse screw bracket 25 and driven by the forward and reverse screw drive motor 26, sleeved on the positive and negative screw The forward nut 28 and the reverse nut 29 on the reverse screw 27 (see Figure 1), the axis of the opening and closing guide rail and the axis of the forward and reverse screw 27 are all parallel to the axis of the ball screw 17. The forward nut 28 and the reverse nut 29 are respectively in one-to-one correspondence with the two push rod bases 22 and are fixedly connected; wherein, rail positioning slots are provided on the opposite clamping surfaces of the two claws 24 of each gripping system;
见图2，动力系统3包括有安装底板31、底端固定于安装底板31上的四个导向轴32、套装于每个导向轴32上的弹簧33、通过轴承套装于四个导向轴32上的驱动电机安装框34、安装于驱动电机安装框34上的驱动电机35、与驱动电机35的驱动轴固定连接的驱动轮36、固定于安装底板31上的两个齿轮安装座37、设置于每个齿轮安装座37上的齿轮传动组38、开合电机39、两组挂轮安装架310、以及连接于每组挂轮安装架顶部的挂轮311，安装底板31的下端面与两个横移部件的动力系统横移滑块110固定连接，弹簧33的底端与安装底板31固定连接，弹簧33的顶端与驱动电机安装框34固定连接，驱动电机安装框34位于两个齿轮安装座37之间，驱动电机安装框34为矩形框架结构，矩形框架结构相对的两条边框之间连接有驱动轮36，驱动轮36与驱动电机35的驱动轴固定连接，驱动轮36顶端的水平高度高于驱动电机安装框34顶端的水平高度，齿轮传动组包括有与开合电机39的驱动轴固定连接的主动齿轮、两个分别与主动齿轮啮合的从动齿轮，开合电机39连接于两个齿轮安装座37之间且开合电机39背向延伸的两个驱动轴分别与两个齿轮安装座上齿轮传动组38的主动齿轮固定连接，每组挂轮安装架310均包括有两个竖直架体，两个竖直架体的底端分别与对应的一组齿轮传动组38的两个从动齿轮固定连接，两个竖直架体相对的竖直侧面其顶部均连接有竖直设置的挂轮311。2, the power system 3 includes an installation base plate 31, four guide shafts 32 whose bottom ends are fixed on the installation base plate 31, a spring 33 sleeved on each guide shaft 32, and sleeved on the four guide shafts 32 through bearings. The drive motor mounting frame 34, the drive motor 35 mounted on the drive motor mounting frame 34, the drive wheel 36 fixedly connected to the drive shaft of the drive motor 35, the two gear mounting seats 37 fixed on the mounting base plate 31, The gear transmission group 38 on each gear mounting seat 37, the opening and closing motor 39, the two groups of hanging wheel mounting brackets 310, and the hanging wheel 311 connected to the top of each group of hanging wheel mounting brackets. The traverse slider 110 of the power system of the traverse component is fixedly connected, the bottom end of the spring 33 is fixedly connected with the mounting base plate 31, the top end of the spring 33 is fixedly connected with the drive motor mounting frame 34, and the drive motor mounting frame 34 is located in the two gear mounting seats 37, the drive motor mounting frame 34 is a rectangular frame structure, and a drive wheel 36 is connected between the two opposite frames of the rectangular frame structure. The drive wheel 36 is fixedly connected with the drive shaft of the drive motor 35, and the top of the drive wheel Higher than the horizontal height of the top of the drive motor mounting frame 34, the gear transmission group includes a driving gear fixedly connected with the drive shaft of the opening and closing motor 39, and two driven gears respectively meshing with the driving gear, and the opening and closing motor 39 is connected to the two. The two drive shafts between the gear mounting bases 37 and the opening and closing motor 39 extending backward are respectively fixedly connected with the driving gears of the gear transmission group 38 on the two gear mounting bases. Each set of hanging wheel mounting frames 310 includes two Vertical frame body, the bottom ends of the two vertical frame bodies are respectively fixedly connected with the two driven gears of a corresponding group of gear transmission groups 38, and the tops of the opposite vertical sides of the two vertical frame bodies are connected with vertical frames. Hanging wheels 311 arranged straight.
本发明的工作原理：The working principle of the present invention:
（1）、初始状态，此时动力系统3的挂轮311处于闭合状态，锁合在初始轨道4上；两个抓附系统2（左抓附系统2-1和右抓附系统2-2）的卡爪24均处于打开状态，位于初始轨道4的下方，如图3所示；(1) In the initial state, the hanging wheel 311 of the power system 3 is in a closed state and locked on the initial track 4; two gripping systems 2 (left gripping system 2-1 and right gripping system 2-2) ) of the jaws 24 are in the open state, located below the initial track 4, as shown in Figure 3;
（2）、右抓附系统2-2的升降推杆23带动两个卡爪24升高，然后两个卡爪24由正反丝杠驱动电机26驱动闭合锁定初始轨道4，左抓附系统2-1的两个卡爪24仍处于打开状态，如图4所示；(2) The lifting push rod 23 of the right gripping system 2-2 drives the two claws 24 to rise, and then the two claws 24 are driven by the positive and negative screw drive motor 26 to close and lock the initial track 4, and the left gripping system The two claws 24 of 2-1 are still open, as shown in Figure 4;
（3）、左抓附系统2-1对应的横移部件的滚珠丝杆驱动电机15启动，右抓附系统2-2对应的横移部件的滚珠丝杆驱动电机15关闭，左抓附系统2-1对应的横移部件从而带动左抓附系统2-1横移至变轨轨道5的下方，然后左抓附系统2-1的升降推杆23带动两个卡爪24升高，两个卡爪24由正反丝杠驱动电机26驱动闭合锁定变轨轨道5，此时右抓附系统2-2的两个卡爪24仍锁合在初始轨道4上，如图5和6所示；(3) The ball screw drive motor 15 of the traverse part corresponding to the left gripping system 2-1 is activated, the ball screw driving motor 15 of the traverse part corresponding to the right gripping system 2-2 is turned off, and the left gripping system is turned off. The traversing component corresponding to 2-1 drives the left gripping system 2-1 to traverse below the track change track 5, and then the lifting push rod 23 of the left gripping system 2-1 drives the two claws 24 to rise, and the two The two claws 24 are driven by the positive and negative screw drive motor 26 to close and lock the track changing track 5. At this time, the two claws 24 of the right gripping system 2-2 are still locked on the initial track 4, as shown in Figures 5 and 6 Show;
（4）、动力系统的挂轮311由开合电机39驱动打开，然后横移系统2两个横移部件的滚珠丝杆驱动电机15均启动，从而驱动动力系统3横移至变轨轨道5的下方并由开合电机39驱动使得挂轮311闭合锁定于变轨轨道5上，如图7、8和9所示；(4) The hanging wheel 311 of the power system is driven to open by the opening and closing motor 39, and then the ball screw drive motors 15 of the two traverse parts of the traverse system 2 are activated, thereby driving the power system 3 to traverse to the track change track 5 The lower part is driven by the opening and closing motor 39 so that the hanging wheel 311 is closed and locked on the track change track 5, as shown in Figures 7, 8 and 9;
（5）、右抓附系统2-2的两个卡爪24由正反丝杠驱动电机26驱动打开，然后右抓附系统2-2的升降推杆23带动两个卡爪24降低，右抓附系统2-2对应的横移部件的滚珠丝杆驱动电机15启动，左抓附系统2-1对应的横移部件的滚珠丝杆驱动电机15关闭，右抓附系统2-2对应的横移部件从而带动右抓附系统2-2横移至变轨轨道5的下方，右抓附系统2-2的两个卡爪24处于打开状态，如图10和11所示；(5) The two claws 24 of the right gripping system 2-2 are driven to open by the positive and negative screw drive motor 26, and then the lifting push rod 23 of the right gripping system 2-2 drives the two claws 24 to lower, and the right The ball screw drive motor 15 of the traverse part corresponding to the gripping system 2-2 is activated, the ball screw driving motor 15 of the traverse part corresponding to the left gripping system 2-1 is turned off, and the right gripping system 2-2 corresponds to the ball screw driving motor 15. The traverse component drives the right gripping system 2-2 to traverse below the track 5, and the two claws 24 of the right gripping system 2-2 are in an open state, as shown in Figures 10 and 11;
（6）、左抓附系统2-1的正反丝杠驱动电机26驱动两个卡爪24打开，左抓附系统2-1的升降推杆23带动两个卡爪24降低，此时，左抓附系统2-1和右抓附系统2-2的两个卡爪24均位于变轨轨道5的下方且处于打开状态，动力系统3的挂轮311闭合锁定于变轨轨道5上；(6) The positive and negative screw drive motor 26 of the left gripping system 2-1 drives the two claws 24 to open, and the lifting push rod 23 of the left gripping system 2-1 drives the two claws 24 to lower. At this time, The two claws 24 of the left gripping system 2-1 and the right gripping system 2-2 are located below the track change track 5 and are in an open state, and the hanging wheel 311 of the power system 3 is closed and locked on the track change track 5;
（7）、变轨后，动力系统的驱动轮36在弹簧33的弹力支撑下与变轨轨道5的底面紧密接触，从而提供驱动轮36旋转所需要的摩擦力，驱动电机35启动从而驱动驱动轮36转动，使得动力系统3带动本发明整个轨道式巡检机器人沿变轨轨道5移动实现轨道巡检的功能。(7) After the track change, the drive wheel 36 of the power system is in close contact with the bottom surface of the track change track 5 under the elastic support of the spring 33, so as to provide the friction force required for the rotation of the drive wheel 36, and the drive motor 35 starts to drive the drive. The rotation of the wheel 36 enables the power system 3 to drive the entire orbital inspection robot of the present invention to move along the track-changing track 5 to realize the function of orbit inspection.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.
本发明的抓附系统随着横移系统对应的横移部件移动，实现变轨操作，动力系统随着横移系统两个横移部件的同步驱动实现变轨，从而使得动力系统实现快速变轨，变轨后，动力系统的驱动轮在弹簧的弹力支撑下与变轨轨道的底面紧密接触，提供驱动轮旋转所需要的摩擦力，驱动电机驱动驱动轮转动使得动力系统带动本发明整个轨道式巡检机器人实现轨道巡检的功能。本发明无需改变轨道结构或者增加辅助变轨装置，轨道式巡检机器人即可完成自主变轨；本发明通过调节抓附系统两个卡爪的距离来适应不同宽度的轨道，通过改变横移系统横移的长度来适应变轨的距离，具备广泛适用性，具有工业实用性。The gripping system of the present invention moves with the traverse member corresponding to the traverse system to realize the track change operation, and the power system realizes the track change with the synchronous drive of the two traverse members of the traverse system, so that the power system can realize the rapid track change. After the track change, the drive wheel of the power system is in close contact with the bottom surface of the track change track under the elastic support of the spring, providing the friction force required for the rotation of the drive wheel, and the drive motor drives the drive wheel to rotate so that the power system drives the entire track of the present invention. The inspection robot realizes the function of track inspection. The present invention does not need to change the track structure or add an auxiliary track changing device, and the track-type inspection robot can complete the autonomous track change; the present invention adapts to tracks of different widths by adjusting the distance between the two claws of the gripping system, and by changing the traverse system The length of the traverse is adapted to the distance of the track change, which has wide applicability and industrial practicability.
Claims (6)
- 一种具有自主变轨功能的轨道式巡检机器人，其特征在于：包括有横移系统、连接于横移系统上的两个抓附系统和动力系统；A track-type inspection robot with autonomous track change function is characterized in that: it includes a traverse system, two gripping systems and a power system connected to the traverse system;所述的横移系统包括有两个横移部件和连接于两个横移部件之间的滑块连接件，每个横移部件均包括有横移底板、固定设置于横移底板上的横移导轨、设置于横移导轨上的横移滑块，固定于横移底板上的滚珠丝杠支架、连接于滚珠丝杠支架上的滚珠丝杆螺母组件、以及连接于滚珠丝杆螺母组件上的螺母连接件，滚珠丝杆螺母组件包括有固定于滚珠丝杠支架一端的滚珠丝杆驱动电机、连接于滚珠丝杠支架上且与滚珠丝杆驱动电机的驱动轴连接的滚珠丝杆、套装于滚珠丝杆上的移动螺母，移动螺母与套装于滚珠丝杆上的螺母连接件固定连接，滚珠丝杠的轴线与横移导轨的轴线相互平行，两个横移部件的横移导轨相互平行，两个横移部件的横移滑块均与滑块连接件固定连接；The traverse system includes two traverse parts and a slider connecting piece connected between the two traverse parts, and each traverse part includes a traverse bottom plate and a traverse plate fixedly arranged on the traverse bottom plate. The moving guide rail, the traverse sliding block arranged on the traverse guide rail, the ball screw bracket fixed on the traverse base plate, the ball screw nut assembly connected to the ball screw bracket, and the ball screw nut assembly connected to the ball screw The ball screw nut assembly includes a ball screw drive motor fixed at one end of the ball screw support, a ball screw connected to the ball screw support and connected with the drive shaft of the ball screw drive motor, a set of The moving nut on the ball screw is fixedly connected with the nut connector set on the ball screw. The axis of the ball screw and the axis of the traverse guide are parallel to each other, and the traverse guides of the two traverse parts are parallel to each other. , the traverse sliders of the two traverse parts are fixedly connected with the slider connector;所述的两个抓附系统分别连接于横移系统的两个横移部件上，每个抓附系统均包括有固定于对应横移底板上的开合导轨和正反丝杆组件、滑动设置于开合导轨上的两个开合滑块、底端固定于每个开合滑块上的推杆底座、连接于每个推杆底座上的升降推杆、固定连接于每个升降推杆顶端上的卡爪，正反丝杆组件包括有固定于横移底板上的正反丝杠支架、固定于正反丝杠支架上的正反丝杠驱动电机、连接于正反丝杠支架上且由正反丝杠驱动电机驱动的正反丝杠、套装于正反丝杠上的正向螺母和反向螺母，所述的开合导轨的轴线、正反丝杠的轴线均与滚珠丝杠的轴线平行，正反丝杆组件的正向螺母和反向螺母分别与两个推杆底座一一对应且固定连接；The two gripping systems are respectively connected to the two traversing components of the traversing system, and each gripping system includes an opening and closing guide rail and a positive and negative screw assembly fixed on the corresponding traverse bottom plate, and a sliding arrangement is provided. Two opening and closing sliders on the opening and closing guide rails, a push rod base whose bottom end is fixed on each opening and closing slider, a lifting push rod connected to each push rod base, and a push rod that is fixedly connected to each lifting push rod The claw on the top, the positive and negative screw assembly includes a positive and negative screw bracket fixed on the traverse bottom plate, a positive and negative screw drive motor fixed on the positive and negative screw bracket, connected to the positive and negative screw bracket And the positive and negative lead screws driven by the positive and negative lead screw drive motors, the forward nut and the reverse nut sleeved on the positive and negative lead screws, the axis of the opening and closing guide rail, the axis of the positive and negative lead screws are all the same as the ball screw. The axis of the rod is parallel, and the forward nut and the reverse nut of the forward and reverse screw assembly are in one-to-one correspondence with the two push rod bases and are fixedly connected;所述的动力系统包括有安装底板、底端固定于安装底板上的多个导向轴、套装于每个导向轴上的弹簧、通过轴承套装于多个导向轴上的驱动电机安装框、安装于驱动电机安装框上的驱动电机、与驱动电机的驱动轴固定连接的驱动轮、固定于安装底板上的多个齿轮安装座、设置于每个齿轮安装座上的齿轮传动组、开合电机、多组挂轮安装架、以及连接于每组挂轮安装架顶部的挂轮，所述的安装底板的下端面与两个横移部件的螺母连接件固定连接，所述的弹簧的底端与安装底板固定连接，弹簧的顶端与驱动电机安装框固定连接，所述的驱动轮顶端的水平高度高于驱动电机安装框顶端的水平高度，所述的齿轮传动组包括有与开合电机的驱动轴固定连接的主动齿轮、两个分别与主动齿轮啮合的从动齿轮，每组挂轮安装架均包括有两个竖直架体，两个竖直架体的底端分别与对应一组齿轮传动组的两个从动齿轮固定连接，两个竖直架体相对的竖直侧面其顶部均连接有竖直设置的挂轮。The power system includes an installation base plate, a plurality of guide shafts whose bottom ends are fixed on the installation base plate, a spring sleeved on each guide shaft, a drive motor installation frame sleeved on the plurality of guide shafts through bearings, and a drive motor installation frame installed on the plurality of guide shafts. The drive motor on the drive motor mounting frame, the drive wheel fixedly connected with the drive shaft of the drive motor, a plurality of gear mounting seats fixed on the mounting base plate, the gear transmission group arranged on each gear mounting seat, the opening and closing motor, Multiple groups of hanging wheel mounting racks and hanging wheels connected to the top of each group of hanging wheel mounting racks, the lower end surface of the mounting base plate is fixedly connected with the nut connectors of the two transverse moving parts, and the bottom end of the spring is connected to the The mounting base plate is fixedly connected, the top of the spring is fixedly connected with the drive motor mounting frame, the level of the top of the drive wheel is higher than the level of the top of the drive motor mounting frame, and the gear transmission group includes a drive with the opening and closing motor. A driving gear that is fixedly connected to the shaft, and two driven gears that mesh with the driving gear respectively. Each set of hanging wheel mounting brackets includes two vertical frame bodies, and the bottom ends of the two vertical frame bodies are respectively connected with a corresponding set of gears. The two driven gears of the transmission group are fixedly connected, and vertically arranged hanging wheels are connected to the tops of the opposite vertical sides of the two vertical frame bodies.
- 根据权利要求1所述的一种具有自主变轨功能的轨道式巡检机器人，其特征在于：所述的滚珠丝杠支架的顶端固定有滑轨，滑轨的轴线与滚珠丝杆的轴线平行，滑轨上滑动设置有与螺母连接件固定连接的动力系统横移滑块，所述的动力系统横移滑块固定连接于动力系统安装底板的下端面上。The track-type inspection robot with an autonomous track change function according to claim 1, wherein a slide rail is fixed on the top of the ball screw bracket, and the axis of the slide rail is parallel to the axis of the ball screw. The sliding rail is slidably provided with a power system traverse slider fixedly connected with the nut connecting piece, and the power system traverse slider is fixedly connected to the lower end surface of the power system installation base plate.
- 根据权利要求1所述的一种具有自主变轨功能的轨道式巡检机器人，其特征在于：所述的两个抓附系统分别位于对应的横移部件滚珠丝杆螺母组件的外侧。The track-type inspection robot with an autonomous track change function according to claim 1, wherein the two gripping systems are respectively located outside the ball screw nut assembly of the corresponding traverse component.
- 根据权利要求1所述的一种具有自主变轨功能的轨道式巡检机器人，其特征在于：所述的安装底板上固定有两个齿轮安装座，所述的驱动电机安装框位于两个齿轮安装座之间，所述的开合电机连接于两个齿轮安装座之间且开合电机背向延伸的两个驱动轴分别与两个齿轮安装座上齿轮传动组的主动齿轮固定连接。The track-type inspection robot with an autonomous track change function according to claim 1, wherein two gear mounting seats are fixed on the mounting base plate, and the drive motor mounting frame is located on the two gears Between the mounting seats, the opening and closing motor is connected between the two gear mounting seats, and the two drive shafts of the opening and closing motor extending backward are respectively fixedly connected with the driving gear of the gear transmission group on the two gear mounting seats.
- 根据权利要求1所述的一种具有自主变轨功能的轨道式巡检机器人，其特征在于：所述的驱动电机安装框为矩形框架结构，矩形框架结构相对的两条边框之间连接有所述的驱动轮。The track-type inspection robot with autonomous track change function according to claim 1, characterized in that: the drive motor mounting frame is a rectangular frame structure, and the two opposite frames of the rectangular frame structure are connected with a the drive wheel described.
- 根据权利要求1所述的一种具有自主变轨功能的轨道式巡检机器人，其特征在于：所述的每个抓附系统两个卡爪相对的夹持面上均设置有轨道定位卡槽。The track-type inspection robot with autonomous track change function according to claim 1, characterized in that: track positioning slots are provided on the opposite clamping surfaces of the two gripping claws of each gripping system .
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| CN202010693531.9A CN111605572B (en) | 2020-07-17 | 2020-07-17 | Rail mounted patrols and examines robot with autonomic become rail function |
| CN202010693531.9 | 2020-07-17 |
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| CN111605572B (en) | 2021-07-27 |
| CN111605572A (en) | 2020-09-01 |
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